Intro Actuator

8/2/2019 Intro Actuator

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Actuatos


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Solenoids


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Most Common Solenoid Types

Pull Push Open-Frame Rotary


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ThePermanent Magnet DC Motor


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DC motor- theoryofoperation


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Torque vs. Speed Power vs. Torque


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DC Motor Specifications


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9

Basiccontrol


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10

Poweroperationalamplifier


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H bridge


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12

Bangchnly


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Relayoperation


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PWMcontrol


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DC Motor Drive Simulation +V12V

Ext File

0/0V2N3055

1.2mH

50

11.4


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Transistor Current

0 167u 333u 500u 667u 833u 1m-40m

143m

326m

510m

694m

877m

1.06

Ref=Ground X=167uS/Div

Current(A)


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Collector Voltage

0 167u 333u 500u 667u 833u 1m

29.4

68.1

107

146

184

223

Ref=Ground X=167uS/Div

0

Volt

s


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Diode Snubber

+V12V

Ext File

0/0V 2N3055

1.2mH DIODE

50

11.4


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+V

12V

Ext File

0/0V 2N3055

1.2mHDIODE

ZENER

50

11.4

Diode + Zener Diode Snubber


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BJTelectronicschematics


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21

L293D specification

y L293D is H Bridge for DC motor

y Current load is up to 600mA , 1.2A.

y Integrated protective diodes

y Operating voltage 4.5V to 36V


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22

Circuit


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23

L298


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Disadvantage L298 Loss voltage on IC

(1W/1A)

With proper heatsink


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Bigger DC motor


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Continue


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DC motor brake

y Dynamic brakingy Regenerative braking.y Reversing polarity braking


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S dng in tr shunt


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in tr shunt


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Vd mch shunt


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DC motorclosed loop control


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Transferfunction


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Openedloopresponse


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Closedloopresponse


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Controloverview

www.engin.umich.edu\group\ctm\index.html


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Cascadecontrolscheme


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AnalogPID


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Digital PID


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StepperMotors

Cleverness with Magnets and Coils


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Stepper motor


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Attentiononstepper motor

y Opened loop position control

y Stepped missing due to the distubanced force

y Precised stopping position

yOperating voltage: 12VDC, 7.5VDC, 3.6VDC

y Operation current 1A, 4.5A..

y Step: 1.8, 3.6, 7.5, 15

y Power - Moment


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ThePermanentMagnet (PM)Stepper

Motor


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StepperMotorWiring

1 23 45 6

c

d

e


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Bipolarstepper motor


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Unipolarstepper motor


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DrivingStepperMotors


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StepperSequences: FullStep

V+

V+

Gnd

GndS

N

S

NS

N

S

N


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DrivingFullStep


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Driving:Half-Step


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2phasefullstep


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Simplecontrolcircuits


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With microcontroller


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UCN 5804B


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Increse momentonhighspeed


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Seriesresistor


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WithPWM


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Thepracticalcircuits


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Highlevelcontrol

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BLDC motor


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BLDC structure


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Interalview

a) b) c)

Rotor ca ng c BLDCa Nam chm b tr trn b mt li rotor .

b Nam chm hnh ch nht t trong li rotor .c Nam chm hnh ch nht trn trong li rotor.


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Operation

cun dyStator

trc truynngnam chm

cm bin Hall

cc cm binHall

trc ph


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Swichingtable

Pha c cpin

Cng tc ng

A-B SW1; SW4

A-C SW1;SW6

B-C SW3; SW6

B-A SW3; SW2

C-A SW5; SW2

C-B SW5; SW4


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SpeedcontrolusingPWM


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ControlcircuitAT90PWM3

Cu chuynmch + intr Shunt

PSCOUT

PCS00PCS10PCS20

PCS01

PCS21

PCS11

PSCIN

AMP1+;AMP1-ACMP0ACMP1

ACMP2

Tn hiuqudngPhn hi dngin

Tn hiu t cmbin Hall A

Tn hiu t cmbin Hall C

Tn hiu t cmbin Hall B

Pha A

Pha B

Pha Cng c


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Realworldcircuit


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Somepicture

B h d B hl DC M


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Brushed vs. Brushless DC Motors

Brushed Motor Brushless Motor

Mechanical Structure Field Magnets on statorWindings on Rotor

Field Magnets on RotorWindings on stator

Commutation MethodMechanical contact between

brushes and commutatoradded friction, brush debris,RFI

Electronic switching using transistorslow frequency harmonics due to ripple

Rotor Position Detection Automatically detected bybrushes Hall Element, optical encoder, BackEMF

Reversing Method Reverse terminal voltage Rearrange logic sequencer

Distinctive FeaturesQuick responseExcellent controllabilityCurrent limited by

brush/commutator interfaceSpeed limited by brush bounce

Long LastingEasy or no maintenanceCurrent limited by winding resistanceonly

No fundamental high frequency(speed) limitUsually more efficient than brushed


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AC motor

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TheoryofOperation

y The rotor is pulled around because it is attracted to the

sequentially energized poles.

y The AC motor also works by rotating the stator field, but it

makes use of the natural alternating nature of the AC wave to

turn the field coils on and off sequentially.

70


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SquirrelcageAC motor

y However, when AC power is applied to the stator windings

and the stator field starts rotating,

y As the stator field rotates past an individual bar, the field

strength in the bar rises and falls.This changing magnetic

field induces a voltage in the bar, and the voltage causes a

current to flow.

y The current flows through the bar causes the bar to have a

magnetic field, so interacting with the rotating stator field,

that produces the mechanical torque

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Startandstopcircuit

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Variable-Frequency (V/Hz) Drives

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Outputwaveform

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Date post:	06-Apr-2018
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Intro Actuator

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